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From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)

release/4.3a0
Richard Roberts 2013-10-03 19:52:05 +00:00
parent 0c7b2ec062
commit 43d56b120a
2 changed files with 10 additions and 2 deletions
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2
gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp
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@ -152,6 +152,8 @@ ConcurrentIncrementalFilter::Result ConcurrentIncrementalFilter::update(const No
result.linearVariables = isam2_.getFixedVariables().size(); result.linearVariables = isam2_.getFixedVariables().size();
result.nonlinearVariables = isam2_.getLinearizationPoint().size() - result.linearVariables; result.nonlinearVariables = isam2_.getLinearizationPoint().size() - result.linearVariables;
result.newFactorsIndices = isam2Result.newFactorsIndices; result.newFactorsIndices = isam2Result.newFactorsIndices;
result.variablesReeliminated = isam2Result.variablesReeliminated;
result.variablesRelinearized = isam2Result.variablesRelinearized;
// result.error = isam2_.getFactorsUnsafe().error(isam2_.calculateEstimate()); // result.error = isam2_.getFactorsUnsafe().error(isam2_.calculateEstimate());
if(debug) std::cout << "ConcurrentIncrementalFilter::update End" << std::endl; if(debug) std::cout << "ConcurrentIncrementalFilter::update End" << std::endl;

10
gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h
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@ -31,7 +31,6 @@ class GTSAM_UNSTABLE_EXPORT ConcurrentIncrementalFilter : public virtual Concurr
public: public:
ISAM2 isam2_; ///< The iSAM2 inference engine
typedef boost::shared_ptr<ConcurrentIncrementalFilter> shared_ptr; typedef boost::shared_ptr<ConcurrentIncrementalFilter> shared_ptr;
typedef ConcurrentFilter Base; ///< typedef for base class typedef ConcurrentFilter Base; ///< typedef for base class
@ -40,6 +39,8 @@ public:
size_t iterations; ///< The number of optimizer iterations performed size_t iterations; ///< The number of optimizer iterations performed
size_t nonlinearVariables; ///< The number of variables that can be relinearized size_t nonlinearVariables; ///< The number of variables that can be relinearized
size_t linearVariables; ///< The number of variables that must keep a constant linearization point size_t linearVariables; ///< The number of variables that must keep a constant linearization point
size_t variablesReeliminated;
size_t variablesRelinearized;
/** The indices of the newly-added factors, in 1-to-1 correspondence with the /** The indices of the newly-added factors, in 1-to-1 correspondence with the
* factors passed as \c newFactors update(). These indices may be * factors passed as \c newFactors update(). These indices may be
@ -76,6 +77,11 @@ public:
return isam2_.getFactorsUnsafe(); return isam2_.getFactorsUnsafe();
} }
/** Access the current linearization point */
const ISAM2& getISAM2() const {
return isam2_;
}
/** Access the current linearization point */ /** Access the current linearization point */
const Values& getLinearizationPoint() const { const Values& getLinearizationPoint() const {
return isam2_.getLinearizationPoint(); return isam2_.getLinearizationPoint();
@ -160,7 +166,7 @@ public:
protected: protected:
// ISAM2 isam2_; ///< The iSAM2 inference engine ISAM2 isam2_; ///< The iSAM2 inference engine
// ??? // ???
NonlinearFactorGraph previousSmootherSummarization_; ///< The smoother summarization on the old separator sent by the smoother during the last synchronization NonlinearFactorGraph previousSmootherSummarization_; ///< The smoother summarization on the old separator sent by the smoother during the last synchronization